Showroom FlyPT - 6DOF Brushless DIY Actuators

I made a big mistake when i chosed 24V DC motors with sabertooth controllers and worm gearboxes to build a 6dof motion rig. My motors are very powerful 490W (100A peak current), they are very strong really, but not at low speed. I've been struggling more than a half year to set it smooth no succeded. I tried Arduino with SMC3, and I have an AMC1280USB board too, I tried to use gas struts as well. I thought all issues come from backlash, but don't. I realised motors are weak in low speed and they can stuck some milliseconds, that coses extremely jerky platform. So the best is using planetary gears and 220V servos, now I know it, but its very very expensive. I need more than 4000EUR to change motors, gears and controllers, dont want it

But as I see @Grigory used the same 24V DC motors in his second project to linear actuators that he had used his first 6dof rig before. Those transtecno motors are week too in low speed I think. I believe in your stepper motors, they could be strong enough in low speed as well.

But the key is using servo motors every kind of motion platform to build. Im sure.

Hi @pmvcda , there is a nice 3d printed spiral to the end of ballscrew. Can you share thet 3D file in the first post please?

I have to find the file... I will take a look.

Hi everyone, I'm following the "Starter" test. I would like to know if the test mentioned in page 5 on the controller "DC 12V-36V 15A 500W Brushless Motor Controller" have been made, if it works, if there are current limits, if the inversion changes of the motors it is excellent:

https://www.xsimulator.net/community/threads/flypt-6dof-brushless-diy-actuators.10799/page-5

Didn't test yet. But I might test it soon.
Received some gift pcb boards and I will test them with that controller.
I'm just missing some parts...
Stay tuned.

Ok, we're waiting for information.
So to test that controller, you will need to disassemble the single-phase motor and insert a 8-wire BLDC motor?

? Did you read this thread from the start...

Yes, I also saw all the videos and images. In the actuators you have installed the 12v brushed motors (not brushless).

I think you should read again...

Hello Starter PMVCDA, in the meantime I thank you for your technical support and for your answers. Unfortunately I'm Italian, I've already seen 3 times, all 14 pages of posts. I translated your posts, I realized that they are DIY cylinders, aluminum profiles, I saw that you used DC 12V motors, you used Sabertooth, you made 3D components for potentiometers, used screws to recirculate balls. I read everything because of the translation. But I think I understood 90% of things.
I will wait for you to try the brushless motor controllers, I will be curious to know if those controllers are able to withstand the declared current (15A, 500W).

I want to ask you something else: if I wanted to use the motors that have the output shaft with different coupling (see figures) which flexible joint (coupler shaft) could I use?

Sorry, but I think you understood 10%...

I used 24V brushless motors (NANOTEC DB59)
I don't even speak about a Sabertooth...
For controller I use the BLDC8015A.
Started using pot's, but removed them and I use only the internal hall sensor of the BLDC motor for positioning.

There are couplings of different sizes. So yes you can use them.
You have there (2nd) a motor with a key. Maybe remove it to use a standard coupling.
The others are all compatible with current couplings. Maybe not ideal, but they work.

Sorry you're right, I had confused with another post that used DC motors. If you use BLDC motors, I hope you can test the economic controller soon. I have some doubts about the reliability of the current (15A) and about the inversion times of the motors, but who knows, maybe everything will work fine. We will wait for your news.
One question: can flexible joints (with a simple hole) have slipping problems on the motor shaft?

I have gathered most of the stuff needed to build up the ESP32 interface. Have you found any need to modify the hardware electronics portion of your interface? I am away from home but have free time over the next 5-6 weeks so I brought along the components to build up the interface circuits.

Hi,

For now, I don't see any need for changes.
What might change is only on the software side.
Be careful with the connections, it's easy to get it wrong.
Had many people trying to replicate and having problems.

If you have problems, just say so I can help.

Good luck!

Have not been back thru this thread for about a month so sorry if the info is in here already.
FlyPT:
Can your actuator interface hardware be controlled by software other than your dedicated Mover software? Been thinking about building an interim 2DOF rig with traction loss before tackling a full 6DOF.

Or can a simple Simtools plugin be
written so it can drive you actuator hardware interface.

hey @pmvcda ..
today i was trying to calculate the dimensions of my hexapod.
and based off your diagram.. eveything made sense!!!

if i understand correct, the actuators should achieve 60 degree angles at minimum actuator height? @pmvcda

two cents @SilentChill @wannabeaflyer2 ?

Hi @hannibal will need to check my platform drawing and real life later when home to confirm the angle of at least my Build .. its still assembled just not fired up for way too long ( remember were dealing withMr re-invent the wheel LOL , so have to admit tinkering messes up play time, big time ) will update this later for you if its of any help .Cheers

Beautiful project